CN113401753B

CN113401753B - Detection of elevator system population by robot

Info

Publication number: CN113401753B
Application number: CN202010181799.4A
Authority: CN
Inventors: 张宇; 王身鸿; S.R.尼科尔斯; M.P.小基南
Original assignee: Otis Elevator Co
Current assignee: Otis Elevator Co
Priority date: 2020-03-16
Filing date: 2020-03-16
Publication date: 2024-08-16
Anticipated expiration: 2040-03-16
Also published as: CN113401753A; US20210284494A1; EP3882198B1; EP3882198A1

Abstract

A method of operating a first elevator system comprising a first elevator car, the method comprising detecting an individual using a sensor system of a first robot, and informing a dispatcher of the first elevator system: the person has been detected.

Description

Detection of elevator system population by robot

Background

The subject matter disclosed herein relates generally to the field of conveyor systems, and in particular to methods and apparatus for coordinating conveyor system interactions with robots.

Transport systems, such as, for example, elevator systems, escalator systems, and moving walkways, are typically configured to carry only humans alone.

Disclosure of Invention

According to an embodiment, a method of operating a first elevator system comprising a first elevator car is provided. The method comprises the following steps: detecting an individual using a sensor system of a first robot; and notifying a dispatcher of the first elevator system: the person has been detected.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting the person approaching the first elevator system using the sensor system of the first robot; determining that the individual wants to utilize the first elevator system; and transmitting an elevator call to the first elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting the person entering the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the first elevator system: the person has entered the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: it is determined that the person has not requested the first elevator car by an elevator call.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: it is determined that the person did request the first elevator car by elevator call.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting the person exiting the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the first elevator system: the person has left the elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting the person within the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the first elevator system: the individual is within the elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a number of individuals within the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the first elevator system of the number of individuals within the elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a percentage of fullness of the first elevator car using the sensor system of the first robot; and notifying the dispatcher of the percentage of fullness.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: receiving an elevator call from the individual via an elevator call device of the first robot; and transmitting the elevator call from the robot to a dispatcher of the first elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining that the first elevator car can accommodate the first elevator call; and instructing the first elevator car to move to a landing where the individual is located.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining when the individual enters the first elevator car using the sensor system of the first robot; and after the individual has entered the first elevator car, instructing the first robot to enter the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining when the individual enters the first elevator car using the sensor system of the first robot; determining, using the sensor system of the first robot, that no other person is entering the first elevator car; and after the individual has entered the first elevator car and it has been determined that no other individual is entering the first elevator car, instructing the first robot to enter the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: when the person has entered the first elevator car, the first elevator car is moved to the destination of the elevator call.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining when the individual has left the first elevator car at the landing using the sensor system of the first robot; and after the individual has left the first elevator car, instructing the first robot to leave the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: determining when the individual has left the first elevator car at the landing using the sensor system of the first robot; determining, using the sensor system of the first robot, that no other person is exiting the first elevator car; and after the individual has left the first elevator car and it has been determined that no other individual is leaving the first elevator car, instructing the first robot to leave the first elevator car.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a number of individuals within an elevator lobby of the first elevator system using the sensor system of the first robot; and transmitting an elevator call to cause the first robot to use the first elevator system when the number of individuals in the elevator lobby is less than the selected number of individuals.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a number of individuals within an elevator lobby of the first elevator system using the sensor system of the first robot; and delaying transmission to cause the first robot to use elevator calls of the first elevator system when the number of individuals in the elevator lobby is greater than the selected number of individuals.

According to another embodiment, there is provided a computer program product embodied on a non-transitory computer readable medium, the computer program product comprising instructions that when executed by a processor cause the processor to perform operations comprising: detecting an individual using a sensor system of a first robot; a dispatcher for notifying the first elevator system: the person has been detected.

According to another embodiment, a method of operating a first elevator system including a first elevator car is provided. The method comprises the following steps: an elevator call device is transported using a first robot, the elevator call device configured to communicate an elevator call for the first elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: a traffic (traffic) condition of the first elevator system is detected, wherein the first robot is configured to transport the elevator calling device in response to the traffic condition of the elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: the robot is configured to transport the elevator call device away from the first elevator system when the flow condition indicates increased use of the first elevator system or to transport the elevator call device toward the elevator system when the flow condition indicates decreased use of the first elevator system.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: detecting a number of individuals in an elevator lobby of the first elevator system, wherein the first robot is configured to transport the elevator calling device in response to the number of individuals in the elevator lobby.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: the robot is configured to remove the elevator call device from the first elevator system when the number of individuals is greater than the selected number of individuals.

In addition to, or as an alternative to, one or more of the features described herein, further embodiments may include: at least one of the robot and the elevator call device is used to communicate with an individual.

Technical effects of embodiments of the present disclosure include using a robot to detect an individual.

The foregoing features and elements may be combined in various combinations without exclusivity unless expressly stated otherwise. These features and elements, as well as the operation thereof, will become more apparent in light of the following description and accompanying drawings. It is to be understood, however, that the following description and drawings are intended to be illustrative and explanatory only and are not restrictive in nature.

Drawings

The present disclosure is illustrated by way of example and is not limited by the accompanying figures, in which like references indicate similar elements.

Fig. 1 is a schematic diagram of an elevator system in which various embodiments of the present disclosure may be employed;

FIG. 2 shows a schematic diagram of a robotic coordination system according to an embodiment of the disclosure, and;

fig. 3 is a flowchart of a method of controlling a first elevator system including a first elevator car using the robotic coordination system of fig. 2, according to an embodiment of the disclosure.

Detailed Description

Fig. 1 is a perspective view of an elevator system 101, the elevator system 101 including an elevator car 103, a counterweight 105, tension members 107, guide rails 109, a machine 111, a position reference system 113, and a controller 115. The elevator car 103 and the counterweight 105 are connected to each other by a tension member 107. The tension members 107 may include or be configured as ropes, steel cables, and/or coated steel belts, for example. The counterweight 105 is configured to balance the load of the elevator car 103 and is configured to facilitate movement of the elevator car 103 within the hoistway 117 and along the guide rail 109 simultaneously and in opposite directions relative to the counterweight 105.

The tension members 107 engage a machine 111, which machine 111 is part of an overhead structure of the elevator system 101. Machine 111 is configured to control movement between elevator car 103 and counterweight 105. The position reference system 113 may be mounted on a fixed portion of the top of the hoistway 117, such as on a support or guide rail, and may be configured to provide a position signal related to the position of the elevator car 103 within the hoistway 117. In other embodiments, position reference system 113 may be mounted directly to a moving component of machine 111, or may be located in other positions and/or configurations as known in the art. The position reference system 113 may be any device or mechanism for monitoring the position of an elevator car and/or counterweight as known in the art. For example, and without limitation, the position reference system 113 may be an encoder, sensor, or other system, and may include speed sensing, absolute position sensing, etc., as will be appreciated by those skilled in the art.

The controller 115 is positioned in a controller room 121 of the hoistway 117 as shown and is configured to control operation of the elevator system 101 and, in particular, the elevator car 103. For example, controller 115 may provide drive signals to machine 111 to control acceleration, deceleration, leveling, stopping, etc. of elevator car 103. The controller 115 may also be configured to receive a position signal from the position reference system 113 or any other desired position reference device. When moving up or down along guide rails 109 within hoistway 117, elevator car 103 may stop at one or more landings 125 as controlled by controller 115. Although shown in the controller room 121, those skilled in the art will appreciate that the controller 115 can be located and/or configured in other locations within the elevator system 101. In one embodiment, the controller may be remotely located or located in the cloud.

Machine 111 may include a motor or similar drive mechanism. According to an embodiment of the present disclosure, machine 111 is configured to include an electric drive motor. The power supply for the motor may be any power source, including a power grid, which is supplied to the motor in combination with other components. The machine 111 may include a traction sheave that applies a force to the tension member 107 to move the elevator car 103 within the hoistway 117.

Although shown and described with a roping system including tension members 107, elevator systems employing other methods and mechanisms for moving an elevator car within a hoistway can employ embodiments of the present disclosure. For example, embodiments may be employed in ropeless elevator systems that use linear motors to impart motion to an elevator car. Embodiments may also be employed in ropeless elevator systems that use hydraulic lifts to impart motion to an elevator car. Fig. 1 is a non-limiting example presented for illustrative and explanatory purposes only.

In other embodiments, the system includes a conveyor system that moves passengers between floors and/or along a single floor. Such a conveyor system may include an escalator, a people moving device (people mover), and the like. Thus, embodiments described herein are not limited to elevator systems, such as the one shown in fig. 1. In one example, embodiments disclosed herein may be applicable transport systems (such as elevator system 101) and transport equipment of the transport systems (such as elevator car 103 of elevator system 101). In another example, embodiments disclosed herein may be applicable conveyor systems (such as escalator systems) and conveyor apparatuses of conveyor systems (such as moving stairs of escalator systems).

The elevator system 101 also includes one or more elevator doors 104. The elevator doors 104 may be integrally attached to the elevator car 103 and/or the elevator doors 104 may be located on a landing 125 of the elevator system 101. The embodiments disclosed herein may be applicable to both elevator doors 104 integrally attached to elevator car 103 and/or elevator doors 104 located on landing 125 of elevator system 101. The elevator doors 104 open to allow passengers to enter and exit the elevator car 103.

With continued reference to fig. 1 and with reference now to fig. 2, a robotic coordination system 200 is shown in accordance with an embodiment of the present disclosure. It should be appreciated that while specific systems are defined separately in schematic block diagrams, each or any of the systems may be otherwise combined or separated via hardware and/or software. The robot coordination system 200 includes a robot 202 and/or is in wireless communication with the robot 202. It should be appreciated that while one robot 202 is shown, embodiments disclosed herein may be applicable to a robotic coordination system 200 having one or more robots 202. Robot 202 may desire to utilize elevator system 101 and robot coordination system 200 may coordinate the use of elevator system 101 by robot 202 and person 190.

It should be appreciated that although elevator system 101 is used for exemplary illustration, embodiments disclosed herein may be applied to other conveyor systems that use conveyor equipment for transportation, such as, for example, escalators, moving walkways, and the like.

As shown in fig. 2, a building elevator system 100 within a building 102 may include a plurality of different individual elevator systems 101 organized in an elevator group 112. Each elevator system 101 includes elevator cars 103 (one elevator car 103 is not shown in fig. 2 for simplicity). It should be appreciated that although two elevator systems 101 are used for exemplary illustration, embodiments disclosed herein may be applied to a building elevator system 100 having one or more elevator systems 101. In addition, for ease of illustration, the elevator system 101 shown in fig. 2 is organized into elevator groups 112, but it should be understood that the elevator system 101 may be organized into one or more elevator groups 112. Each of the elevator groups 112 may contain one or more elevator systems 101. Each of the elevator groups 112 may also be located on a different landing 125.

There may also be an elevator call 89 located near the elevator system 101 on the landing 125 and/or an elevator call 89 of the robot 202 that may move with the robot 202. The elevator call device 89 may be attached to the robot 202 or the robot 202 may hold the elevator call device 89. Elevator call device 89 communicates elevator call 380 to dispatcher 350 of building elevator system 100. It should be appreciated that although the dispatcher is defined solely in the schematic block diagram, the dispatcher 350 may be incorporated in any controller 115 or other device via hardware and/or software. The elevator call 380 may include a source of the elevator call 380. The elevator call device 89 can include a destination entry option including the destination of the elevator call 380. The elevator call device 89 may be a button and/or touch screen and may be activated manually or automatically. For example, an elevator call 380 may be communicated by the person 190 or robot 202 via the elevator call device 89 by entering the elevator call 380. As shown in fig. 2, robot 202 may utilize communication module 280 to communicate directly with building elevator system 100 and indirectly with building elevator system 100 through computing network 232.

The elevator call device 89 located on the robot 202 may be incorporated into the display device 240 of the robot 202 or associated with the display device 240 of the robot 202. For example, display device 240 may be a touch screen, allowing person 190 to enter elevator call 230 by touching the touch screen of display device 240. The robot 202 and associated elevator call device 89 may move based on traffic conditions including traffic volume and traffic direction (e.g., in the morning versus out the evening, etc.). Robot 202 may transport elevator call 89 in response to a detected traffic condition in elevator system 101. Robot 202 may transport elevator call 89 away from first elevator system 101 when the traffic condition indicates increased use of first elevator system 101 or transport elevator call 89 toward elevator system 101 when the traffic condition indicates decreased use of first elevator system 101. The number of individuals 190 may be detected in the elevator lobby 310 of the first elevator system 101 (e.g., using the robot 202 and/or people counting device 92) and then the robot 202 is configured to transport the elevator call device 89 in response to the number of individuals 190 in the elevator lobby 310. For example, robot 202 is configured to remove elevator call device 89 from first elevator system 101 when the number of individuals 190 is greater than the selected number of individuals (e.g., a large population has been formed). For example, robot 202 is configured to move elevator call device 89 toward first elevator system 101 when the number of individuals 190 is less than the selected number of individuals (e.g., no group of people or group of people has dissipated).

In some embodiments, elevator calling device 89 and/or robot 202 may communicate with person 190. The purpose of the communication may be to issue a summoning instruction. For example, indicating where to stand and send out other elevator etiquette/indications (e.g., do not block the doors from the passenger, do not enter multiple calls, etc.).

The mobile device 192 may also be configured to transmit an elevator call 380. Robot 202 or person 190 may have a mobile device 192 to communicate elevator calls 380. The mobile device 192 may be a smart phone, smart watch, laptop computer, or any other mobile device known to those skilled in the art. Mobile device 192 can be configured to transmit elevator call 380 to dispatcher 350 via computing network 232. The mobile device 192 may communicate with the computer network 232 through a wireless access protocol device (WAP) 234 using a short range wireless protocol. Short range wireless protocols may include, but are not limited to: bluetooth, wi-Fi, haLow (801.11 ah), zWave, zigBee or wireless M-Bus. Alternatively, mobile device 192 may communicate directly with computer network 232 using a long-range wireless protocol. The remote wireless protocol may include, but is not limited to: cellular, LTE (NB-IoT, CAT M1), loRa, satellite, ingenu, or SigFox.

The controller 115 may be combined, local, remote, cloud, etc. Dispatcher 350 may be local, remote, cloud, etc. Dispatcher 350 communicates with controller 115 of each elevator system 101. Alternatively, there may be a single controller that is common to all elevator systems 101 and controls all elevator systems 101, instead of two separate controllers 115 as shown in fig. 2. The dispatcher 350 can be "group" software configured to select the best elevator car 103 to assign to an elevator call 380. The dispatcher 350 manages the elevator call 89 associated with the elevator group 112.

Dispatcher 350 is configured to control and coordinate the operation of multiple elevator systems 101. Dispatcher 350 may be an electronic controller that includes a processor 352 and an associated memory 354, the memory 354 including computer-executable instructions that, when executed by processor 352, cause processor 352 to perform various operations. The processor 352 may be, but is not limited to, a single processor or multiprocessor system including Graphics Processing Unit (GPU) hardware, digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), central Processing Unit (CPU), or Field Programmable Gate Array (FPGA) arranged in a homogeneous or heterogeneous manner, in any of a wide range of possible architectures. Memory 354 may be, but is not limited to, random Access Memory (RAM), read Only Memory (ROM), or other electronic, optical, magnetic, or any other computer readable medium.

Dispatcher 350 communicates with robot 202 and elevator call device 89 of building elevator system 100. Dispatcher 350 is configured to receive elevator calls 380 transmitted from elevator call device 89, mobile device 192, and/or robot 202. Dispatcher 350 is configured to manage elevator calls 380 entered from elevator call device 89, mobile device 192, and/or robot 202 and then command one or more elevator systems 101 to respond to elevator calls 380.

The robot 202 may be configured to operate entirely autonomously using a controller 250 that controls the operation of the robot 202. The controller 250 may be an electronic controller that includes a processor 252 and associated memory 254, the memory 254 including computer-executable instructions that, when executed by the processor 252, cause the processor 252 to perform various operations. The processor 252 may be, but is not limited to, a single processor or multiprocessor system including Graphics Processing Unit (GPU) hardware, digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), central Processing Unit (CPU), or Field Programmable Gate Array (FPGA) arranged in a homogeneous or heterogeneous manner, in any of a wide range of possible architectures. Memory 254 may be a storage device such as, for example, random Access Memory (RAM), read Only Memory (ROM), or other electronic, optical, magnetic, or any other computer readable medium.

The robot 202 includes a power supply 260 configured to supply power to the robot 202. Power supply 260 may include an energy harvesting device and/or an energy storage device. In an embodiment, the energy storage device may be an on-board (onboard) battery system. The battery system may include, but is not limited to, a lithium ion battery system. The robot 202 may be configured to move to an external power source (e.g., an electrical outlet) to charge the power source 260.

Robot 202 includes a speaker 292, which speaker 292 is configured to communicate audible words, music, and/or sounds to a person 190 located in proximity to robot 202. The robot 202 further comprises a display device 240, which display device 240 is configured to visually display information to a person 190 located in the vicinity of the robot 202. For example, the display device 240 may be a flat screen monitor, a computer tablet, or a smart phone device. In embodiments, the display device 240 may be located on the head of the robot 202 or may replace the head of the robot 202. In an embodiment, the display device 240 is a computer tablet or similar display device carried by the robot 202.

The robot 202 may be permanently or temporarily positioned (i.e., located) within the elevator lobby 310, which is located on the landing 125 near the elevator system 101. The robot 202 may include a propulsion system 210 for moving the robot 202. The robot 202 may move throughout the elevator lobby 310, move away from the elevator lobby 310 throughout the landing 125, and/or may move to other landings via the elevator system 101 and/or stairs (not shown). Propulsion system 210 may be a leg system that simulates a human leg, as shown in fig. 2. As shown in fig. 2, the propulsion system 210 may include two or more legs 212 for moving the robot 202. It should be appreciated that while leg systems are used for exemplary illustration, embodiments disclosed herein may be applicable to robots having other propulsion systems for transportation, such as, for example, wheel systems, rotor (rotorcraft) systems, air cushion (hovercraft) systems, tread (tread) systems, or any propulsion system that may be utilized as known to those of skill in the art. It should also be appreciated that robots 202 having a humanoid appearance are used for illustration, and that the embodiments disclosed herein may be applied to robots that do not have a humanoid appearance.

The robot 202 includes a sensor system 270 for collecting sensor data. The sensor system 270 may include, but is not limited to, an Inertial Measurement Unit (IMU) sensor 276, a camera 272, a microphone 274, a position sensor system 290, a load detection system 278, and a people counter system 279. The IMU sensor 276 is configured to detect acceleration of the robot 202. IMU sensor 276 may be a sensor such as, for example, an accelerometer, a gyroscope, or similar sensor known to those skilled in the art. The IMU sensor 276 may detect acceleration as well as derivatives or integrals of acceleration, such as, for example, speed, jerk (jerk), jerk (jounce), jerk (snap), and the like.

The camera 272 may be configured to capture images of areas surrounding the robot 202. The camera 272 may be a still image camera, video camera, depth sensor, thermal camera, and/or any other type of imaging device known to those skilled in the art. In one embodiment, controller 250 may be configured to analyze images captured by camera 272 using image recognition for identifying person 190. In another embodiment, the controller 250 may be configured to transmit the image as raw data for processing by the building system manager 320. Image recognition may use facial recognition to identify person 190. Robot 202 may utilize image recognition to identify the person 190 who is boarding elevator car 103 and then check whether that person 190 has transmitted an elevator call 380 or "piggyback" to dispatcher 350 on another person 190's elevator call 380. Robot 202 may communicate in real-time with dispatcher 350 to keep track of the piggyback. In addition, robot 202 may ride on elevator car 103 to monitor the ride.

Microphone 274 is configured to detect sound. Microphone 274 is configured to detect audible sounds in the vicinity of robot 202, such as, for example, speech uttered by person 190 in the vicinity of robot 202. In one embodiment, the controller 250 may be configured to analyze the sound captured by the microphone 274 using speech recognition software and respond accordingly. In another embodiment, the controller 250 may be configured to transmit sound as raw data for processing by the building system manager 320. Sounds (i.e., voices) from person 190 may be analyzed to identify person 190 using voice recognition.

In one embodiment, controller 250 may be configured to analyze sound captured by microphone 274 using voice recognition for identifying person 190. In another embodiment, the controller 250 may be configured to transmit sound as raw data for processing by the building system manager 320.

Dispatcher 350 can coordinate all of one or more robots 202 together to ride a single elevator car 103 to avoid interaction with person 190 (e.g., all of the robot cars). If the traffic from person 190 is high at a given time, dispatcher 350 may cancel elevator call 380 received from robot 202 and/or instruct robot 202 to wait. Dispatcher 350 may also direct robot 202 to walk stairs or escalators. If a particular elevator group is busy, dispatcher 350 may direct robot 202 to move to another elevator group.

Robot 202 may utilize load carrying mechanism 220 to deliver items. In fig. 2, the load carrying mechanism 220 is an arm of the robot 202. It should be appreciated that the arm of the robot 202 is an example, and that the robot 202 may utilize other load carrying mechanisms such as, for example, a pallet, a crane (crane), a flat bed, a safety pod (secure compartment), or other load mechanisms known to those skilled in the art. In addition, robot 202 may be utilized to pull or tow items such as, for example, a hospital bed or wheelchair. In other embodiments, the robot 202 may be an automated hospital bed or an automated wheelchair.

The load detection system 278 may be configured to detect the weight of a load carried or propelled by the load carrying mechanism 220. The robot 202 may be directed to certain elevator cars 103 based on the weight detected by the load detection system 278. For example, the robot 202 carrying the overload may be guided to ride a freight elevator configured to handle the overload. In addition, if the load carried by both robots 202 exceeds the weight limit of the elevator car 103, the robots 202 may be instructed to ride alone.

Each elevator call 380 communicated by robot 202 may include a call code that may indicate a type of elevator call 380, including an item being transported by robot 202 and/or an urgency of elevator call 380. In one example, the summoning code may indicate that the robot 202 is transporting clothing, which may not be considered urgent. In another example, the summoning code may indicate that robot 202 is transporting the transplanted organ, which may be considered urgent. When dispatcher 350 receives elevator call 380, dispatcher 350 will analyze the code and determine its urgency as compared to other elevator calls 380 received. The most urgent elevator calls 380 will be allocated first, while those elevator calls that are not urgent can be demoted to wait. The call code may also be included and/or applied to elevator calls 380 received from person 190. In one example, each elevator call 380 transmitted may receive the same call code, meaning that each elevator call 380 from person 190 will be treated with the same priority, and robots 202 with urgent call codes may take priority over the call codes of person 190, while robots 202 with non-urgent call codes may take priority over the call codes of person 190. In another example, different person 190 may be assigned different calling codes based on VIP status or based on work role. In addition, emergency room physicians may have a summons code that gives them the highest priority over other summons codes.

The robot 202 further comprises a position sensor system 290, the position sensor system 290 being configured to detect a position 302 of the robot 202. The positions 302 of the robot 202 may also include the positions 302 of the robot 202 relative to other objects to allow the robot 202 to navigate through the hallway of the building 102 and prevent the robot 202 from striking the object or person 190. The position sensing system 290 may use one or a combination of sensing devices including, but not limited to, GPS, wireless signal triangulation, SONAR, RADAR, LIDAR, image recognition, or any other position detection or collision avoidance system known to those of skill in the art. The position sensor system 290 may utilize GPS in order to detect the position 302 of the robot 202. The position sensor system 290 may utilize triangulation of wireless signals within the building 102 to determine the position 302 of the robot 202 within the building 102. For example, the position sensor system 290 may utilize the signal strength (e.g., RSSI) of wireless signals received from WAPs 234 in known locations throughout the building 102 to triangulate the position of the robot 202 within the building 102. To avoid collisions with objects, the position sensor system 290 may additionally use SONAR, RADAR, LIDAR or image recognition (convolutional neural network). At initial deployment or repositioning, the robot 202 may perform a learn mode so that the robot 202 may become familiar with the environment.

The position 302 of the robot 202 may also be communicated to the dispatcher 350 when the robot 202 desires to use the elevator system 101. By knowing the position 302 of the robot 202, the distance from the elevator group 112 along the possible path 304 (e.g., elevator system 101), and the speed of movement of the robot 202, then the dispatcher 350 can call the elevator car 103 to the elevator group 112 when or before the robot 202 reaches the elevator group 112. Use of elevator system 101 may be limited to a learning period of low traffic for individual 190. People counter system 279 or people counter device 92 may be used to learn the flow pattern of person 190.

The robot 202 includes a communication module 280 configured to allow the controller 250 of the robot 202 to communicate with the building system manager 320 and dispatcher 350. Communication module 280 is capable of transmitting data to dispatcher 350 and receiving data from dispatcher 350 over computer network 232. The computer network 232 may be a cloud computing network. The communication module 280 is capable of transmitting data to the building system manager 320 and receiving data from the building system manager 320 over the computer network 232. In another embodiment, communication module 280 is capable of transmitting data to and receiving data from dispatcher 350 by communicating directly with dispatcher 350.

The communication module 280 may communicate with the computer network 232 through a wireless access protocol device (WAP) 234 using a short range wireless protocol. Alternatively, the communication module 280 may communicate directly with the computer network 232 using a remote wireless protocol.

Communication module 280 may communicate with dispatcher 350 through WAP 234 using a short range wireless protocol. Alternatively, communication module 280 may communicate directly with dispatcher 350 using a short range wireless protocol.

Building system manager 320 may communicate with computer network 232 via WAP 234 using a short range wireless protocol. The building system manager 320 may communicate directly with the computer network 232 using a remote wireless protocol.

Building system manager 320 is an electronic controller that includes a processor 322 and associated memory 324, the memory 324 including computer-executable instructions that, when executed by processor 322, cause processor 322 to perform various operations. The processor 322 may be, but is not limited to, a single processor or multiprocessor system including Graphics Processing Unit (GPU) hardware, digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), central Processing Unit (CPU), or Field Programmable Gate Array (FPGA) arranged in a homogeneous or heterogeneous manner, in any of a wide range of possible architectures. Memory 324 may be a storage device such as, for example, random Access Memory (RAM), read Only Memory (ROM), or other electronic, optical, magnetic, or any other computer readable medium.

The building system manager 320 may be configured to obtain, store, and provide information to the robot 202 that may be useful to the robot 202. The information may include a catalog of building 102 that includes images of individuals 190 available for facial recognition or voice signatures of individuals 190 available for voice recognition of individuals 190 to call elevator car 103 for individuals 190 as described above. The information may also include directory information for people or locations within the building 102 and/or in areas surrounding the building 102. The building system manager 320 may also perform climate control within the building 102 and/or building access control for the building 102.

The people counter system 279 is configured to detect or determine the number of people. The number of people may be the number of individuals 190 located within the elevator car 103, the number of individuals 190 boarding or disembarking the elevator car 103, the number of individuals 190 located at the landing 125, or the number of individuals 190 located in the elevator lobby 310 at the landing 125. The number of persons may be the exact number of persons 190 or an approximate number of persons 190.

The people counter system 279 may use the camera 272 for people counting. The people counter system 279 may be used to determine the number of people 190 near the elevator system 101, the number of people 190 in the elevator lobby 310 near the elevator system 101, the number of people 190 on their way to the elevator system 101, the number of people 190 boarding the elevator car 103, the number of people 190 leaving the elevator car 103, and/or the number of people 190 within the elevator car 103. Individuals 190 located near elevator system 101 and/or within elevator hall 310 indicate that individuals 190 want to board elevator car 103 of elevator system 101.

The people counter system 279 may utilize one or more detection mechanisms of the robot 202, such as, for example, a camera 272, a depth sensing device, a radar device, a laser detection device, a mobile device (e.g., cell phone) tracker using a communication device 280, and/or any other desired device capable of sensing the presence of a person 190. People counter system 279 may use camera 272 for visual recognition to identify individuals 190 and objects. The fullness (fullness) percentage of the elevator car 103 can be determined based on detection of individuals 190 and/or objects within the elevator car 103. The laser detection device may detect how many passengers walk through the laser beam to determine the number of individuals 190. The thermal detection device may be an infrared or other thermal sensing camera that utilizes the detected temperature to identify individual individuals 190 and objects and then determine the number of individuals 190. The depth detection means may be a 2-D, 3-D or other depth/distance detection camera that uses the detected distance to the object and/or person 190 to determine the number of persons 190. The communication device 280 may act as a mobile device tracker that may determine the number of individuals 190 on the landing 125, in the elevator lobby 310, or in the elevator car 103 by detecting mobile device wireless signals and/or detecting how many mobile devices 192 are utilizing a particular application on the landing 125, in the elevator lobby 310, or on the mobile devices 192 in the elevator car 103. As can be appreciated by those skilled in the art, there may be additional methods of sensing the number of individuals 190 in addition to the methods set forth, and one or any combination of these methods may be used to determine the number of individuals 190 on the landing 125, in the elevator lobby 310, in the elevator car 103, or on their way to the elevator system 101.

In one embodiment, people counter system 279 is capable of detecting the number of people by image pixel count. For example, the number of people may compare the current image of the elevator lobby 310 to the inventory image of the elevator lobby 310. For example, people counter system 279 may utilize pixel counts by capturing a current image of elevator lobby 310 and comparing the current image of elevator lobby 310 with an inventory image of elevator lobby 310, which shows the presence of zero individuals 190 or the presence of a known number of individuals 190 of elevator lobby 310. The number of pixels that are different between the stock image and the current image may be related to the number of people in the elevator lobby 310. It should be understood that the embodiments disclosed herein are not limited to determining a pixel count of a person number, and thus other methods including, but not limited to, video analysis software may be utilized to determine a person number. Video analysis may identify individuals 190 from the fixed objections (objection) and count each individual individually to determine the total number of individuals 190.

Machine learning, deep learning, and/or artificial intelligence modules may be used to determine the number of people. The artificial intelligence module may be located within the robot 202, the building system manager 320, or the dispatcher 350. The number of people may alternatively be expressed as a percentage from zero percent to one hundred percent, indicating how many percentages of pixels differ between the stock image and the current image. The number of people may be represented as a range of values from one to ten (e.g., one is empty and ten is full) indicating how many percentages of pixels are different between the stock image and the current image. The number of persons may be represented as an actual or estimated number of persons 190, which may be determined in response to the number of pixels that differ between the stock image and the current image.

The landing 125 or elevator car 103 in the building 102 of fig. 2 may also include a people counter device 92 that cooperates with the people counter system 279 of the robot 202 to determine the number of people. A people counter device 92 may be located within the elevator car 103 to capture the number of people 190 within the elevator car 103. People counter device 92 may be located within elevator lobby 310 to capture the number of individuals 190 within elevator lobby 310. It should be understood that more than one people counter device 92 may be utilized in the building elevator system 100. The people counter device 92 may communicate in real-time with a people counter system 279 of the robot 202 to accurately determine the people count.

People counter device 92 may include one or more detection mechanisms such as, for example, a weight sensing device, a visual identification device, a depth sensing device, a radar device, a laser detection device, a mobile device (e.g., a cellular phone) tracking, and/or any other desired device capable of sensing the presence of person 190. The visual recognition device may be a camera that utilizes visual recognition to identify individual individuals 190 and objects in the elevator lobby 310 or elevator car 103. The percentage fullness of the elevator car 103 can be determined based on detection of individuals 190 and/or objects within the elevator car 103. The weight detection device may be a scale for sensing the weight in the elevator lobby 310 or elevator car 103 and then determining the number of individuals 190. The laser detection device can detect how many passengers walk through the laser beam to determine the number of individuals 190 in the elevator lobby 310 or elevator car 103. The thermal detection device may be an infrared or other thermal sensing camera that uses the detected temperature to identify individual individuals 190 and objects in the elevator lobby 310 or elevator car 103 and then determine the number of individuals 190. The depth detection means may be a 2-D,3-D or other depth/distance detection camera that uses the detected distance to the object and/or person 190 to determine the number of persons 190. Mobile device tracking may determine the number of individuals 190 on a landing 125, in an elevator lobby 310, or in an elevator car 103 by detecting mobile device wireless signals and/or detecting how many mobile devices 192 are utilizing a particular application on the landing 125, in an elevator lobby 310, or on mobile devices 192 in the elevator car 103. As can be appreciated by those skilled in the art, there may be additional methods for sensing the number of individuals 190 in addition to the methods set forth, and one or any combination of these methods may be used to determine the number of individuals 190 on the landing 125, in the elevator lobby 310, or in the elevator car 103.

In one embodiment, people counter device 92 is capable of detecting the number of people by image pixel count. For example, the number of people may compare the current image of the elevator lobby 310 to the inventory image of the elevator lobby 310. For example, people counter device 92 may utilize pixel counts by capturing a current image of elevator lobby 310 and comparing the current image of elevator lobby 310 to an inventory image of elevator lobby 310, which shows the presence of zero individuals 190 or the presence of a known number of individuals 190 of elevator lobby 310. The number of pixels that are different between the stock image and the current image may be related to the number of people in the elevator lobby 310. It should be understood that the embodiments disclosed herein are not limited to determining a pixel count of a person number, and thus other methods including, but not limited to, video analysis software may be utilized to determine a person number. Video analysis may identify individuals 190 from the fixed objections and count each individual individually to determine the total number of individuals 190.

Machine learning, deep learning, and/or artificial intelligence modules may be used to determine the number of people. The artificial intelligence module may be located in people counter device 92 or in a separate module in dispatcher 350. The independent module may be capable of communicating with a people counter device 92. The number of people may alternatively be expressed as a percentage from zero percent to one hundred percent, indicating how many percentages of pixels differ between the stock image and the current image. The number of people may be represented as a range of values from one to ten (e.g., one is empty and ten is full) indicating how many percentages of pixels are different between the stock image and the current image. The number of persons may be represented as an actual or estimated number of persons 190, which may be determined in response to the number of pixels that differ between the stock image and the current image.

The number of people determined by at least one of people counter system 279 and people counter device 92 of robot 202 may be communicated to dispatcher 350 to adjust the operation of elevator system 101. For example, if the number of people is high, meaning that there are a large number of individuals 190, the dispatcher 350 will deliver more elevator cars 103 to the elevator hall 310.

Advantageously, robot 202 is able to move away from elevator lobby 310 and thus is able to detect the population of individuals 190 before the population of individuals 190 reaches elevator lobby 310. The crowd of individuals 190 may then be reported to dispatcher 350, and dispatcher 350 may call elevator car 103 before the crowd of individuals 190 reaches elevator lobby 310, which advantageously saves time by helping to more quickly clear the crowd of individuals 190 from elevator lobby 310. Also advantageously, in the case where elevator car 103 does not include people counting device 92, then robot 202 can ride elevator car 103 and pass the people count back to dispatcher 350.

With continued reference to fig. 1-2, referring now to fig. 3, a flow chart of a method 400 of operating a first elevator system 101 including a first elevator car 103 is shown in accordance with an embodiment of the present disclosure. In an embodiment, the method 400 is performed by the robotic coordination system 200 of fig. 2.

At block 404, person 190 is detected using sensor system 270 of first robot 202. At block 406, dispatcher 350 of first elevator system 101 is notified: the person 190 has been detected.

In an embodiment, sensor system 270 of first robot 202 detects person 190 approaching first elevator system 101 and then determines that person 190 wants to utilize first elevator system 101. Once it is determined that person 190 wants to utilize first elevator system 101, elevator call 380 is routed to first elevator system 101.

In an embodiment, the sensor system 270 of the first robot 202 detects the person 190 entering the first elevator car 103 and notifies the dispatcher 350 of the first elevator system 101: the person 190 has entered the first elevator car 103. It may be determined that person 190 did not request the first elevator car 103 via elevator call 380, or in other words, that person 190 is "on-boarding" on elevator call 380 submitted by another person 190. Alternatively, it may be determined that person 190 did request the first elevator car 103 via elevator call 380. Advantageously, this detection capability allows the dispatcher 350 to know in real time how many individuals 190 are actually utilizing the elevator car 103 and adjust the operation of the elevator system 101 accordingly.

In an embodiment, the sensor system 270 of the first robot 202 detects the person 190 leaving the first elevator car 103 and notifies the dispatcher 350 of the first elevator system 101: person 190 has left elevator car 103. For example, robot 202 may have entered elevator car 103 with person 190 and is tracking the movement of person 190 to better help guide dispatcher 350 in the operation of elevator car 103.

In an embodiment, the sensor system 270 of the first robot 202 detects the individual 190 within the first elevator car 103 and notifies the dispatcher 350 of the first elevator system 101: the individual 190 is within the elevator car 103.

In an embodiment, the sensor system 270 of the first robot 202 detects the number of individuals 190 within the first elevator car 103 and notifies the dispatcher 350 of the first elevator system 101 of the number of individuals 190 within the elevator car 103.

In an embodiment, the sensor system 270 of the first robot 202 detects a fullness percentage of the first elevator car 103 and notifies the dispatcher 350 of the fullness percentage. Advantageously, the fullness percentage can help dispatcher 350 determine whether to make more stops to load additional individuals.

In another embodiment, elevator call 380 is received from person 190 via elevator call device 89 of first robot 202 and elevator call 380 is transferred from robot 202 to dispatcher 350 of first elevator system 101. Advantageously, by positioning elevator call device 89 with robot 202, elevator call device 89 can freely move around elevator lobby 310 with robot 202 and thus allow person 190 to make elevator call 380 anywhere in elevator lobby 310. This is helpful when there is a large population around the elevator call 89 attached to the wall near the elevator group 112 and the individual 190 may not be able to reach the elevator call 89 attached to the wall near the elevator group 112. Dispatcher 350 can determine that first elevator car 103 can accommodate first elevator call 380 and instruct first elevator car 103 to move to landing 125 where person 190 is located. Once at the landing where person 190 is located, sensor system 270 of robot 202 may be used to determine when person 190 has entered first elevator car 103 and then may indicate that first robot 202 entered first elevator car 103 after person 190 has entered first elevator car 103. Robot 202 may also wait to enter first elevator car 103 until sensor system 270 using robot 202 determines that no other person 190 is entering first elevator car 103.

When person 190 has entered first elevator car 103, first elevator car 103 may be moved to the destination of elevator call 380. The sensor system 207 of the robot 202 can be used to determine when the person 190 has left the first elevator car 103 at the landing 125 and to instruct the robot 202 to leave the first elevator car 103 after the person 190 has left the first elevator car 103. Robot 202 may also wait to leave first elevator car 103 until it has been determined that no other person 190 is leaving first elevator car 103 using sensor system 270 of robot 202.

The method 400 may further include detecting a number of individuals 190 within an elevator lobby of the first elevator system 101 using the sensor system 270 of the first robot 202 and transmitting an elevator call 380 that causes the first robot 202 to use the first elevator system 101 when the number of individuals 190 at the elevator lobby 310 is less than the selected number of individuals 190. Alternatively, sensor system 270 of first robot 202 is used to detect the number of individuals 190 within elevator lobby 310 of first elevator system 101 and when the number of individuals 190 at elevator lobby 310 is greater than the selected number of individuals 190, the transmission of elevator call 380 by first robot 202 using first elevator system 101 is delayed. Thus, if there are too many individuals 190 waiting to use the first elevator system 101 in the elevator lobby, the robot 202 may be forced to wait to use the first elevator system 101.

Although the above description has described the flow of fig. 3 in a particular order, it should be understood that the order of the steps may be altered unless specifically required otherwise in the appended claims.

The present invention may be a system, method and/or computer program product at any level of possible integrated technology details. The computer program product may include a computer readable storage medium(s) having computer readable program instructions thereon for causing a processor to perform aspects of the present invention.

The computer readable storage medium may be a tangible device that can retain and store instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium include the following: portable computer diskette, hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disc read-only memory (CD-ROM), digital Versatile Disk (DVD), memory stick, floppy disk, mechanical coding device such as a punch card or a protrusion structure in a groove having instructions recorded thereon, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium should not be construed as being a transitory signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a pulse of light passing through a fiber optic cable), or an electrical signal transmitted through a wire.

The term "about" is intended to include the degree of error associated with measurements based on manufacturing tolerances and/or a specific amount of equipment available at the time of filing the present application.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, element components, and/or groups thereof.

Those skilled in the art will appreciate that various example embodiments are shown and described herein, each having certain features in a particular embodiment, but the disclosure is not so limited. Rather, the disclosure can be modified to incorporate any number of variations, alterations, substitutions, combinations, sub-combinations or equivalent arrangements not heretofore described, but which are commensurate with the scope of the disclosure. Additionally, while various embodiments of the disclosure have been described, it is to be understood that aspects of the disclosure may include only some of the described embodiments. Accordingly, the disclosure is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.

Claims

1. A method of operating a first elevator system including a first elevator car, the method comprising:

detecting an individual using a sensor system of a first robot;

notifying a dispatcher of the first elevator system: the person has been detected; and

Detecting a number of individuals in an elevator lobby of the first elevator system using the sensor system of the first robot, wherein the first robot is configured to transport an elevator call device including a destination entry option in response to the number of individuals in the elevator lobby.

2. The method of claim 1, further comprising:

Detecting the person approaching the first elevator system using the sensor system of the first robot;

determining that the individual wants to utilize the first elevator system; and

An elevator call is transmitted to the first elevator system.

3. The method of claim 1, further comprising:

Detecting the person entering the first elevator car using the sensor system of the first robot; and

Notifying the dispatcher of the first elevator system: the person has entered the first elevator car.

4. A method according to claim 3, further comprising:

it is determined that the person has not requested the first elevator car by an elevator call.

5. A method according to claim 3, further comprising:

It is determined that the person did request the first elevator car by elevator call.

6. The method of claim 1, further comprising:

detecting the person exiting the first elevator car using the sensor system of the first robot; and

Notifying the dispatcher of the first elevator system: the person has left the elevator car.

7. The method of claim 1, further comprising:

Detecting the person within the first elevator car using the sensor system of the first robot; and

Notifying the dispatcher of the first elevator system: the individual is within the elevator car.

8. The method of claim 1, further comprising:

detecting a number of individuals within the first elevator car using the sensor system of the first robot; and

Notifying the dispatcher of the first elevator system of the number of individuals within the elevator car.

9. The method of claim 7, further comprising:

Detecting a percentage of fullness of the first elevator car using the sensor system of the first robot; and

Notifying the dispatcher of the percentage of fullness.

10. The method of claim 1, further comprising:

Receiving an elevator call from the individual via the elevator call device of the first robot; and

The elevator call is transmitted from the robot to a dispatcher of the first elevator system.

11. The method of claim 10, further comprising:

determining that the first elevator car can accommodate the first elevator call; and

Indicating that the first elevator car is moving to the landing where the individual is located.

12. The method of claim 11, further comprising:

determining when the individual enters the first elevator car using the sensor system of the first robot; and

After the person has entered the first elevator car, the first robot is instructed to enter the first elevator car.

13. The method of claim 11, further comprising:

Determining when the individual enters the first elevator car using the sensor system of the first robot;

Determining, using the sensor system of the first robot, that no other person is entering the first elevator car; and

After the person has entered the first elevator car and it has been determined that no other person is entering the first elevator car, the first robot is instructed to enter the first elevator car.

14. The method of claim 11, further comprising:

When the person has entered the first elevator car, the first elevator car is moved to the destination of the elevator call.

15. The method of claim 14, further comprising:

Determining when the individual has left the first elevator car at the landing using the sensor system of the first robot; and

After the person has left the first elevator car, the first robot is instructed to leave the first elevator car.

16. The method of claim 14, further comprising:

Determining when the individual has left the first elevator car at the landing using the sensor system of the first robot;

Determining, using the sensor system of the first robot, that no other person is exiting the first elevator car; and

After the person has left the first elevator car and it has been determined that no other person is leaving the first elevator car, the first robot is instructed to leave the first elevator car.

17. The method of claim 1, further comprising:

when the number of individuals in the elevator lobby is less than the selected number of individuals, an elevator call is transmitted that causes the first robot to use the first elevator system.

18. The method of claim 1, further comprising:

when the number of individuals in the elevator lobby is greater than the selected number of individuals, a delay transmission causes the first robot to use elevator calls of the first elevator system.

19. A computer program product embodied on a non-transitory computer-readable medium, the computer program product comprising instructions that when executed by a processor cause the processor to perform operations comprising:

detecting an individual using a sensor system of a first robot;

20. A method of operating a first elevator system including a first elevator car, the method comprising:

using a first robot to transport an elevator call device including a destination entry option, the elevator call device configured to communicate an elevator call for the first elevator system; and

Detecting a number of individuals in an elevator lobby of the first elevator system using a sensor system of the first robot, wherein the first robot is configured to transport the elevator call device in response to the number of individuals in the elevator lobby.

21. The method of claim 20, further comprising

A traffic condition of the first elevator system is detected, wherein the first robot is configured to transport the elevator call device in response to the traffic condition of the elevator system.

22. The method of claim 21, wherein the robot is configured to transport the elevator call device away from the first elevator system when the traffic condition indicates increased use of the first elevator system or to transport the elevator call device toward the elevator system when the traffic condition indicates decreased use of the first elevator system.

23. The method of claim 20, wherein the robot is configured to: when the number of individuals is greater than the selected number of individuals, the elevator calling device is removed from the first elevator system.

24. The method of claim 20, further comprising

At least one of the robot and the elevator call device is used to communicate with an individual.